Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics

Automatica

Volumn 43, Issue 5, 2007, Pages 842-851

  Gueaieb, Wail ^a   Al Sharhan, Salah ^b   Bolic, Miodrag ^a  

^a UNIVERSITY OF OTTAWA   (Canada)

^b GULF UNIVERSITY FOR SCIENCE AND TECHNOLOGY   (Kuwait)

Author keywords

Coordinated robots; Hybrid position and force control; Robust control; Sliding mode control; Uncertain systems

Indexed keywords

COMPUTATIONAL EFFICIENCY; DECENTRALIZED CONTROL; FORCE CONTROL; FUZZY LOGIC; LYAPUNOV FUNCTIONS; ROBUST CONTROL; SLIDING MODE CONTROL; UNCERTAIN SYSTEMS;

HYBRID POSITION; INTERNAL FORCES; LYAPUNOV STABILITY; MANIPULATORS DYNAMICS; PAYLOAD;

MANIPULATORS;

EID: 34047093748     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2006.10.025     Document Type: Article

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